Surgical device

ABSTRACT

A surgical device is provided that includes a jaw portion with a first jaw and a second jaw moveable relative to the first jaw. The surgical device also includes a shaft portion coupled to a proximal end of the jaw portion. A driver is configured to cause relative movement of the jaw portion and the shaft portion. The driver may be configured to cause the jaw portion to pivot relative to the shaft portion about a pivot axis that is perpendicular to first and second longitudinal axes defined by the jaw portion and the shaft portion, respectively. The driver may also be configured to cause at least a portion of the jaw portion to rotate relative to the shaft portion about the first longitudinal axis. Advantageously, the surgical device includes a surgical member, e.g., a cutting element and/or a stapling element, disposed within the first jaw.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application is a continuation application claiming thebenefit of and priority to U.S. application Ser. No. 14/158,166, filedon Jan. 17, 2014, which is a continuation application claiming thebenefit of and priority to U.S. application Ser. No. 13/546,018, filedon Jul. 11, 2012, now U.S. Pat. No. 8,636,762, which is a continuationapplication claiming the benefit of and priority to U.S. applicationSer. No. 11/191,851, filed on Jul. 27, 2005, now U.S. Pat. No.8,241,322, the entire contents of all of which are expresslyincorporated by reference herein.

U.S. application Ser. No. 11/191,851 expressly incorporates by referenceeach of the following in its entirety: U.S. Patent Application Ser. No.60/388,644, filed on Jun. 14, 2002, now abandoned; U.S. patentapplication Ser. No. 10/460,291, filed on Jun. 11, 2003, now U.S. Pat.No. 7,743,960; U.S. patent application Ser. No. 09/999,546, filed onNov. 30, 2001, now U.S. Pat. No. 7,695,485; U.S. patent application Ser.No. 09/887,789, filed on Jun. 22, 2001, now U.S. Pat. No. 7,032,798;U.S. patent application Ser. No. 09/836,781, filed on Apr. 17, 2001, nowU.S. Pat. No. 6,981,941; U.S. patent application Ser. No. 09/723,715,filed on Nov. 28, 2000, now U.S. Pat. No. 6,793,652; U.S. patentapplication Ser. No. 09/324,451, filed on Jun. 2, 1999, now U.S. Pat.No. 6,315,184; U.S. patent application Ser. No. 09/324,452, filed onJun. 2, 1999, now U.S. Pat. No. 6,443,973; U.S. patent application Ser.No. 09/351,534, filed on Jul. 12, 1999, now U.S. Pat. No. 6,264,087;U.S. patent application Ser. No. 09/510,923, filed on Feb. 22, 2000, nowU.S. Pat. No. 6,517,565; and U.S. patent application Ser. No.09/510,927, filed on Feb. 22, 2000, now U.S. Pat. No. 6,716,233.

FIELD OF THE INVENTION

The present invention relates to a surgical device. More specifically,the present invention relates to a powered, articulating device forclamping, cutting and stapling tissue.

BACKGROUND INFORMATION

One type of surgical device is a linear clamping, cutting and staplingdevice. Such a device may be employed in a surgical procedure to resecta cancerous or anomalous tissue from a gastro-intestinal tract. Oneconventional linear clamping, cutting and stapling instrument is shownin FIG. 1. The device includes a pistol grip-styled structure having anelongated shaft and distal portion. The distal portion includes a pairof scissors-styled gripping elements, which clamp the open ends of thecolon closed. In this device, one of the two scissors-styled grippingelements, such as the anvil portion, moves or pivots relative to theoverall structure, whereas the other gripping element remains fixedrelative to the overall structure. The actuation of this scissoringdevice (the pivoting of the anvil portion) is controlled by a griptrigger maintained in the handle.

In addition to the scissoring device, the distal portion also includes astapling mechanism. The fixed gripping element of the scissoringmechanism includes a staple cartridge receiving region and a mechanismfor driving the staples up through the clamped end of the tissue againstthe anvil portion, thereby sealing the previously opened end. Thescissoring elements may be integrally formed with the shaft or may bedetachable such that various scissoring and stapling elements may beinterchangeable.

One problem with the foregoing surgical devices, and in particular withthe foregoing linear clamping, cutting and stapling devices such as thatillustrated in FIG. 1, is that the opposing jaws may be difficult tomaneuver within a patient. It may be necessary for a surgeon to move theopposing jaws between various angles in order to position the desiredtissue between the opposing jaws. However, it is also generallydesirable to make an incision in a patient that is as small as possible,and the small size of an incision limits the degree to which theopposing jaws may be maneuvered.

Another problem with the foregoing surgical devices, and in particularwith the foregoing linear clamping, cutting and stapling devices such asthat illustrated in FIG. 1, is that the opposing jaws may not besufficiently hemostatic. Specifically, the opposing jaws of theforegoing surgical devices are not clamped together with sufficientforce, thereby reducing the effectiveness of the surgical device.

Thus, there is believed to be a need for an improvement in themaneuverability of clamping, cutting and stapling devices. In addition,there is believed to be a need for a clamping, cutting and staplingdevice that provides additional clamping force.

SUMMARY

In accordance with an example embodiment of the present invention, asurgical device is provided that includes a jaw portion pivotablyconnected to a shaft portion about a hinge. The hinge defines an axis ofrotation of these components that is perpendicular to one or both of thejaw portion and the shaft portion. The jaw portion, or a part thereof,may also be rotatable relative to the shaft portion about thelongitudinal axis of the jaw portion.

The jaw portion includes a first jaw and a second jaw. The second jaw isdisposed in opposed correspondence with the first jaw. The first jaw maybe pivotably coupled to the second jaw. The device may also include atleast one of a cutting element and a stapling element disposed withinthe second jaw, preferably a blade rotatably mounted on a staple-drivingwedge. The cutting element and/or the stapling element may be configuredto move between a distal end and a proximal end of the second jaw to atleast one of cut and staple a section of tissue disposed between thefirst and second jaws.

In accordance with an example embodiment of the present invention, asurgical device is provided that includes a jaw portion. The jaw portionincludes a first jaw and a second jaw moveable relative to the firstjaw. The surgical device also includes a shaft portion coupled to aproximal end of the jaw portion. The surgical device further includes adriver configured to cause relative movement of the jaw portion and theshaft portion. The jaw portion defines a first longitudinal axis and theshaft portion defines a second longitudinal axis. The driver may beconfigured to cause the jaw portion to pivot relative to the shaftportion about a pivot axis that is perpendicular to the first and secondlongitudinal axes. The first and second jaws may be moveable relative toeach other in a plane, the pivot axis being arranged parallel to theplane. Also, in accordance with an example embodiment of the presentinvention, the driver is also configured to cause at least a portion ofthe jaw portion to pivot relative to the shaft portion about the firstlongitudinal axis.

The driver may be adapted to be driven by a first rotatable drive shaftand a second rotatable drive shaft. For instance, the driver may beconfigured such that rotation of the first and second rotatable driveshafts in opposite directions relative to each other causes the jawportion to pivot relative to the shaft portion about the pivot axis.Also, the driver may be configured such that rotation of the first andsecond rotatable drive shafts in a same direction relative to each othercauses the at least a portion of the jaw portion to rotate relative tothe shaft portion about the first longitudinal axis. Furthermore, thedriver may be configured such that rotation of the first rotatable driveshaft without rotating the second rotatable drive shaft causes relativemovement of the first jaw and the second jaw.

The surgical device may include a surgical member disposed within thefirst jaw. The surgical member may include a cutting element and/or astapling element. The driver may be configured such that rotation of thesecond rotatable drive shaft without rotating the first rotatable driveshaft causes relative movement of the surgical member within the firstjaw.

In accordance with an example embodiment of the present invention, thereis provided a surgical device that includes a jaw portion including afirst jaw and a second jaw moveable relative to the first jaw, a shaftportion coupled to a proximal end of the jaw portion, and a driveradapted to be driven by first and second rotatable drive shafts suchthat selective rotation of the first and second rotatable drive shaftscauses the surgical device to perform at least four different functions,e.g., movement of a first one of the jaw portion, the first jaw, thesecond jaw and the shaft portion relative to at least a second one ofthe jaw portion, the first jaw, the second jaw and the shaft portion.

The jaw portion may define a first longitudinal axis, the first of theat least four different functions including the rotation of at least aportion of the jaw portion relative to the shaft portion about the firstlongitudinal axis. The driver is configured to be driven by rotation ofthe first and second rotatable drive shafts in a same direction relativeto each other so as to cause the at least a portion of the jaw portionto rotate relative to the shaft portion about the first longitudinalaxis. The shaft portion may define a second longitudinal axis, a secondof the at least four different functions including pivoting the jawportion relative to the shaft portion about a pivot axis that isperpendicular to the second longitudinal axis. The driver is configuredto be driven by rotation of the first and second rotatable drive shaftsin opposite directions relative to each other so as to cause the jawportion to pivot relative to the shaft portion about the pivot axis. Athird of the at least four different functions may include moving thefirst jaw relative to the second jaw. The driver is configured to bedriven by the first rotatable drive shaft without rotation of the secondrotatable drive shaft to cause relative movement of the first jaw andthe second jaw. In addition, the surgical device may also include asurgical member, e.g., a cutting and/or stapling element, disposedwithin the first jaw, a fourth of the at least four different functionsincluding relative movement of the surgical member within the first jaw.The driver is configured to be driven by rotation of the secondrotatable drive shaft without rotation of the first rotatable driveshaft so as to cause relative movement of the surgical member within thefirst jaw.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of a conventional linear clamping, cuttingand stapling device;

FIG. 2(a) is a perspective view of an example embodiment of anelectro-mechanical driver component, according to the present invention;

FIG. 2(b) is a schematic diagram that illustrates some of the componentsof a surgical device, according to an example embodiment of the presentinvention;

FIG. 3(a) is a perspective view of a surgical device, according to anexample embodiment of the present invention;

FIG. 3(b) is a rear perspective view that illustrates some of theinternal components of the surgical device, according to one embodimentof the present invention;

FIG. 3(c) is a side perspective view that illustrates some of theinternal components of the surgical device, according to one embodimentof the present invention;

FIG. 3(d) is a perspective view that illustrates a jaw portion beingfully pivoted, e.g., articulated, relative to a shaft portion, accordingto one embodiment of the present invention;

FIG. 3(e) is a bottom perspective view that illustrates the jaw portionbeing fully pivoted relative to the shaft portion, according to oneembodiment of the present invention;

FIG. 3(f) is an exploded view of a replaceable staple cartridge,according to one embodiment of the present invention;

FIG. 3(g) is a cross-sectional view of the surgical device, according toone embodiment of the present invention, in a fully closed position;

FIG. 3(h) is a bottom view of a first jaw, according to another exampleembodiment of the present invention;

FIGS. 3(i) to 3(l) are side cross-sectional views that illustrate theopening and closing of first and second jaws, according to anotherexample embodiment of the present invention;

FIG. 4(a) is a perspective view of an articulating clamping, cutting andstapling attachment, according to another example embodiment of thepresent invention;

FIG. 4(b) is a perspective view that illustrates additional features ofthe second jaw of the jaw portion, according to an example embodiment ofthe present invention;

FIG. 5(a) is a perspective view that illustrates the proximal end of thesecond jaw, according to an example embodiment of the present invention;

FIG. 5(b) illustrates the surgical device of FIG. 4(a) when moved into afirst partially closed position;

FIG. 5(c) illustrates the surgical device of FIG. 4(a) when moved into asecond partially closed position;

FIG. 5(d) illustrates the surgical device of FIG. 4(a) when moved into afully closed position;

FIG. 6(a) illustrates a flexible shaft and a first coupling, accordingto an example embodiment of the present invention;

FIG. 6(b) illustrates a rear perspective view of the first coupling,according to an example embodiment of the present invention;

FIG. 6(c) illustrates a front perspective view of the first coupling,according to the example embodiment shown in FIG. 6(b);

FIG. 6(d) is a side perspective view of some of the internal componentsof the first coupling, according to an example embodiment of the presentinvention;

FIG. 6(e) is a rear perspective view of the second coupling at thedistal end of the flexible shaft, according to an example embodiment ofthe present invention;

FIG. 7 illustrates a side view, partially in section, of the flexibleshaft, according to another example embodiment of the present invention;

FIG. 8 is a cross-sectional view of the flexible shaft taken along theline 8-8 illustrated in FIG. 7;

FIG. 9 illustrates a rear end view of first coupling, according to anexample embodiment of the present invention;

FIG. 10, there is seen a front end view of the second coupling of theflexible shaft, according to an example embodiment of the presentinvention;

FIG. 11 illustrates schematically an arrangement of motors, according toan example embodiment of the present invention;

FIG. 12 illustrates a schematic view of the electromechanical drivercomponent, according to an example embodiment of the present invention;

FIG. 13 is a schematic view of an encoder, according to an exampleembodiment of the present invention;

FIG. 14 schematically illustrates the memory module, according to anexample embodiment of the present invention;

FIG. 15, there is seen a schematic view of a wireless RCU, according toan example embodiment of the present invention; and

FIG. 16, there is seen a schematic view of a wired RCU, according to anexample embodiment of the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

FIG. 2(b) is a schematic diagram that illustrates some of the componentsof a surgical device 11, according to an example embodiment of thepresent invention. The surgical device 11 is configured so as to beparticularly well-suited for insertion into the body of a patient, e.g.,via a cannula (not shown). In the embodiment shown, the surgical device11 is a clamping, cutting and stapling device. The surgical device 11includes a jaw portion 11 a that is pivotably coupled to a shaft portion11 b by a hinge portion 11 c. The jaw portion 11 a includes a first jaw50 having a distal end 50 a and a proximal end 50 b, and a second jaw 80having a distal end 80 a and a proximal end 80 b. The first jaw 50 andthe second jaw 80 are pivotably coupled relative to each other at ornear their respective proximal ends 50 b, 80 b. In the exampleembodiment shown, the first jaw 50 and the second jaw 80 pivot relativeto each other about pivot axis A, which is oriented perpendicular to thepage.

As mentioned above, the jaw portion 11 a is pivotably coupled to theshaft portion 11 b by the hinge portion 11 c. Specifically, the jawportion 11 a is pivotable relative to the shaft portion 11 b about apivot axis B, which may be positioned at any location on or between thejaw portion 11 a and the shaft portion 11 b, and at any circumferentiallocation relative to the jaw portion 11 a and the shaft portion 11 b. Inthe example embodiment shown, the pivot axis B is oriented vertically inthe view shown, such that, upon articulation, the jaw portion 11 apivots within a plane that is perpendicular to the page. It should berecognized that, in other example embodiments, the pivot axis B may havea different orientation, so as to enable the jaw portion 11 a to pivotwithin a different plane. The jaw portion 11 a may be pivotable to andbetween any angles relative to the shaft portion 11 b, such that the jawportion 11 a can be selectively positioned as desired during use.Multiple pivot axes relative to the longitudinal axis of the shaftportion 11 b (the longitudinal axis of the shaft portion 11 b isdesignated as axis D in FIG. 2(b)) may be provided. For instance, invarious embodiments, the jaw portion 11 a may be rotatable relative tothe shaft portion 11 b about its longitudinal axis D, or may berotatable relative to the shaft portion 11 b about multiple pivot axesthat are perpendicular to the longitudinal axis D.

The shaft portion 11 b may include a distal portion 1101, to which thejaw portion 11 a is connected, and a proximal portion 1102. The proximalportion 1102 of the shaft portion 11 b may include a handle 1103, withwhich a user may grasp the surgical device 11. At a proximal-most end ofthe proximal portion 1102, the shaft portion 11 b may include aconnection element 1104, e.g., a quick-connect coupling, for connectingto a flexible shaft (described in further detail below).

The second jaw 80 includes a clamping surface 106. The second jaw 80also includes a cutting and stapling element 104, which may form atleast part of the clamping surface 106 of the second jaw 80. The firstjaw 50 includes an anvil member 700 in opposed correspondence with thesecond jaw 80. The anvil member 700 includes the clamping surface 108,which, along with the clamping surface 106 of the second jaw 80, clampsa section of tissue to be cut and stapled. As explained in greaterdetail below, the cutting and stapling element 104 is configured to cutand staple a section of tissue when the first jaw 50 and the second jaw80 are in a closed, e.g., fully closed, position. Additional features ofthe cutting and stapling element 104, according to an embodiment, areillustrated and described, for instance, in connection with FIGS. 3(f)and 3(g) below, and further in U.S. Pat. Nos. 7,695,485 and 7,743,960,each of which, as set forth above, are hereby expressly incorporatedherein by reference in their entirety.

Various drivers may be employed to drive the movements of the surgicaldevice 11, e.g., pivoting the jaw portion 11 a relative to the shaftportion 11 b, rotating the jaw portion 11 a or some part thereof aroundits longitudinal axis relative to the shaft portion 11 b, pivoting thefirst jaw 50 relative to the second jaw 80, firing of a staplecartridge, etc. According to one embodiment of the present invention,these functions are performed by connection of the surgical device 11 toa flexible shaft having two rotatable drive shafts, although is shouldbe recognized that in other embodiments, different types and/or adifferent number of drive components may be employed.

FIG. 2(b) illustrates schematically an embodiment wherein the surgicaldevice 11 employs first and second drivers 88 and 98, each of which isconnected to a respective one of two rotatable drive shafts of a, e.g.,flexible, drive shaft. For instance, a first driver 88 may, e.g.,operate to move the first jaw 50 and the second jaw 80 relative to eachother. The first driver 88 may include any type of drive mechanismcapable of moving the first jaw 50 and the second jaw 80 relative toeach other. The first driver 88 may be situated at least partially inthe proximal end 80 b of the second jaw 80 and may be connected to theproximal end 50 b of the first jaw 50. The first driver 88 may engagethe proximal end 50 b of the first jaw 50 so as to open and close thefirst jaw 50 relative to the second jaw 80. In addition, the firstdriver 88 may extend through the shaft portion 11 b of the surgicaldevice 11 to a first drive socket 654. The first drive socket 654 of thefirst driver 88 is coupled to a first motor 96 by a first drive shaft94. As will be explained in more detail below, the first driver 88, whenengaged by the first motor 96 via the first drive shaft 94, may operateto open and close first jaw 50 relative to second jaw 80, in addition toperforming other operations of the surgical device 11.

The second jaw 80 also includes a second driver 98. The second driver 98may also extend through the shaft portion 11 b of the surgical device 11to a second drive socket 694. The second drive socket 694 is coupled toa second motor 100 by a second drive shaft 102. The second driver 98,when engaged by the second motor 100 via the second drive shaft 102, mayoperate to drive the cutting and stapling element 104 to cut and staplea section of tissue 52, in addition to performing other operations ofthe surgical device 11.

While two drive sockets, e.g., the first drive socket 654 and the seconddrive socket 694, and two corresponding drive shafts, e.g., the firstdrive shaft 94 and the second drive shaft 102, are illustrated as beingpart of the surgical device 11 and as being for the purposes ofclamping, cutting and stapling a section of tissue, it is possible toprovide any suitable number of drive sockets and drive shafts. Forexample, a single drive shaft may be provided to perform theabove-described functions of the surgical device 11.

In one embodiment, the two drive shafts, e.g., the first drive shaft 94and the second drive shaft 102, are also configured to be employed tomove the jaw portion 11 a relative to the shaft portion 11 b. An exampleof this type of embodiment is illustrated in, e.g., FIGS. 3(a) through3(e), and is described further below. Alternatively, and as shown inFIG. 2(b), the surgical device 11 may also include a third driver 201and a fourth driver 202 that are employed to move the jaw portion 11 arelative to the shaft portion 11 b. For instance, the third driver 201may be configured to pivot the jaw portion 11 a about axis B relative tothe shaft portion 11 b, while the fourth driver 202 may be configured torotate the jaw portion 11 a about its longitudinal axis D relative tothe shaft portion 11 b. In one embodiment, the third and fourth drivers201, 202 are rotatable drive shafts that extend through the shaftportion 11 b of the surgical device 11 to third and fourth drive sockets2011, 2021, respectively. The third drive socket 2011 is coupled to athird motor 2013 by a third drive shaft 2012. The third driver 201, whenengaged by the third motor 2013 via the third drive shaft 2012, operatesto pivot the jaw portion 11 a about axis B relative to the shaft portion11 b. The fourth drive socket 2021 is coupled to a fourth motor 2023 bya fourth drive shaft 2022. The fourth driver 202, when engaged by thefourth motor 2023 via the fourth drive shaft 2022, operates to rotatethe jaw portion 11 a about its longitudinal axis D relative to the shaftportion 11 b.

The drive shafts, e.g., first and second rotatable drive shafts 94 and102 and any other drive shafts, may be housed within a flexible driveshaft, such as the flexible drive shaft 1620 illustrated in FIG. 2(a).Other types of flexible drive shafts may also be employed. For instance,the drive shafts may be housed within a flexible drive shaft of the typedescribed and illustrated in Applicant's co-pending Provisional PatentApp. Ser. No. 60/703,227, which is expressly incorporated by referenceherein in its entirety.

Referring to FIG. 2(b), the surgical device 11 may also include a memorymodule 6041. In one embodiment, the memory module 6041 is connected toor integral with the cutting and stapling element 104. The memory module6041 is connected to a data connector 1272 by a data transfer cable1278. Additional features of these components are set forth inconnection with FIGS. 3(f) and 7.

Furthermore, FIG. 2(b) also illustrates a connection element 1104. Theconnection element 1104 may include a quick connect sleeve 713 that hasquick connect slots 713 a that engage complementary quick connectelements 1664 of a flexible drive shaft 1620, which is described infurther detail below. In order to retain the quick connect elements 1664of the flexible drive shaft 1620 in the quick connect slots 713 a of thequick connect sleeve 713, the connection element 1104 may also include aspring.

According to an example embodiment of the present invention, thesurgical device 11 may be configured as an attachment to, or may beintegral with, an electromechanical surgical system, such as theelectromechanical driver component 1610 having a motor systemillustrated in FIG. 2(a). It should be appreciated that, in this exampleembodiment, any appropriate number of motors may be provided, and themotors may operate via battery power, line current, a DC power supply,an electronically controlled DC power supply, etc. It should also beappreciated that the motors may be connected to a DC power supply, whichis in turn connected to line current and which supplies the operatingcurrent to the motors. In another example embodiment, the surgicaldevice may be an attachment to, or may integral with, a mechanicaldriver system.

FIG. 3(a) is a perspective view of a surgical device 11, according toone embodiment of the present invention. As set forth above, FIGS. 3(a)to 3(e) illustrate one embodiment of the present invention in which twodrive shafts are configured to be employed to move the jaw portion 11 arelative to the shaft portion 11 b, to rotate the jaw portion 11 a aboutits longitudinal axis, to move the first jaw 50 relative to the secondjaw 80, and to fire a stapling and cutting cartridge. In the positionshown in FIG. 3(a), the jaw portion 11 a is positioned at an angle ofapproximately 60 degrees relative to the shaft portion 11 b. The jawportion 11 a may be appropriately positioned according to the incisionmade in the patient and to the position of the tissue desired to beclamped, cut and stapled.

FIG. 3(b) is a rear perspective view that illustrates some of theinternal components of the surgical device 11, according to an exampleembodiment of the present invention. The outer body of the surgicaldevice 11 is shown in ghost lines. As shown, the jaw portion 11 a is inan initial position in which it is axially aligned with the shaftportion 11 b.

FIG. 3(b) shows a first rotatable drive shaft 500, which may be axiallyrotatable within the shaft portion 11 b. Coupled to the first rotatabledrive shaft 500 is a gear element 502. The gear element 502 rotatesabout a longitudinal axis and is meshingly engaged with a gear element504. The gear element 504 is held in position by pin 505, the centralaxis of which is coaxial with the pivot axis B around which the jawportion 11 a pivots relative to the shaft portion 11 b.

The gear element 504 is also meshingly engaged with a gear element 506within the jaw portion 11 a. The gear element 506 is connected to a gearelement 510 by a shaft 508. The gear element 506, the gear element 510,and the shaft 508 rotate within the jaw portion 11 a about alongitudinal axis defined by the central axis of the shaft 508. The gearelement 510 is meshingly engaged with a gear element 512 that rotatesabout a pin 513 that is longitudinally arranged within the jaw portion11 a. The gear element 512 is meshingly engaged with a gear element 514.The gear element 514 has a shaft portion that extends distally to a setof teeth 516. The teeth 516 are selectively engageable with acorrespondingly-shaped opening in a plate 518, the plate 518 being keyedto an internal surface of the surgical device 11 so as to preventrelative rotation of the plate 518. The plate 518 is moveable in anaxial direction between a first position, in which thecorrespondingly-shaped opening in the plate 518 is locked in engagementwith the teeth 516, and a second position, in which the plate 518 ismoved distally relative to the first position and thecorrespondingly-shaped opening in the plate 518 is not in engagementwith the teeth 516.

Extending distally from the gear 514 and the shaft portion carrying theteeth 516 is a threaded screw 520. The threaded screw 520 is arrangedlongitudinally and is configured to rotate about a longitudinal axiswhen the gear 514 is rotated. Mounted on the threaded screw 520 is apush block 522. The push block 522 is keyed to an internal surface ofthe surgical device 11, so as to prevent relative rotation of the pushblock 520. Rotatably coupled to the lower distal end of the push block520 is a pair of rollers 524. The pair of rollers 524 are seated withinrespective slots 5011 on each side of the upper jaw 50. The upper jaw 50and the slots 5011 are shown in dotted line in FIG. 3(b).

FIG. 3(b) also shows a second rotatable drive shaft 550, which may beaxially rotatable within the shaft portion 11 b. Coupled to the secondrotatable drive shaft 550 is a gear element 552. The gear element 552rotates about a longitudinal axis and is meshingly engaged with a gearelement 554. The gear element 554 is held in position by pin 505, thecentral axis of which is coaxial with the pivot axis B around which thejaw portion 11 a pivots relative to the shaft portion 11 b.

The gear element 554 is also meshingly engaged with a gear element 556within the jaw portion 11 a. The gear element 556 is connected to a gearelement 560 by a shaft 558. The gear element 556, the gear element 560,and the shaft 558 rotate within the jaw portion 11 a about alongitudinal axis defined by the central axis of the shaft 558. The gearelement 560 is meshingly engaged with a gear element 562 a that ismounted on a proximal end of the pin 513. The gear element 562 a isconfigured to adapted to be non-rotatably mounted on, and thus to rotatewith, the pin 513, the pin 513 extending longitudinally within the jawportion 11 a. In addition, a gear element 562 b is adapted to benon-rotatably mounted on a distal end of the pin 513. Thus, the gearelement 562 b is also configured to rotate with the pin 513.

The gear element 562 b has a shaft portion that extends distally andincludes a set of teeth 5661 (hidden from view in FIG. 3(b) but shown inFIG. 3(d)). The teeth 5661 are selectively engageable with acorrespondingly-shaped opening in the plate 518. As set forth above, theplate 518 is keyed to an internal surface of the surgical device 11 soas to prevent relative rotation of the plate 518, and is moveable in anaxial direction between the first position, in which thecorrespondingly-shaped opening in the plate 518 is locked in engagementwith the teeth 5661, and the second position, in which the plate 518 ismoved distally relative to the first position and thecorrespondingly-shaped opening in the plate 518 is not in engagementwith the teeth 5661.

The gear element 562 b is meshingly engaged with a gear element 564.Extending distally from the gear 564 is a first longitudinal rod 566.The first longitudinal rod 566 is attached to a second longitudinal rod568. The second longitudinal rod 568 has a shoulder 572. Between thefirst longitudinal rod 566 and the shoulder 572 of the secondlongitudinal rod 568 is a spring. The distal end 574 of the secondlongitudinal rod 568 is configured to engage a respective opening in awedge driver 605. The wedge driver 605 rotates so as to drive astapling/cutting wedge (described in further detail below) along astaple cartridge.

These components are also shown in various other views. For instance,FIG. 3(c) is a side perspective view that illustrates some of theinternal components of the surgical device 11. As shown, the jaw portion11 a is pivoted, e.g., articulated, relative to the shaft portion 11 b.In addition, FIG. 3(d) is a perspective view that illustrates the jawportion 11 a being further pivoted, e.g., articulated, relative to theshaft portion 11 b. Also, FIG. 3(e) is a bottom perspective view thatillustrates the jaw portion 11 a being pivoted, e.g., articulated,relative to the shaft portion 11 b.

As set forth above, the surgical device 11 may also include a cuttingand stapling element 104. In one embodiment, the staple and cuttingelement 104 is a staple cartridge. FIG. 3(f) is an exploded view of areplaceable staple cartridge 600. The replaceable staple cartridge 600is one type of stapling/cutting arrangement that may be employed as thecutting and stapling element 104 in the example embodiment of thepresent invention illustrated in FIGS. 3(a) to 3(e). The replaceablestaple cartridge 600 includes a staple tray 604. The staple tray 604 hasa slot 604 i at its proximal end 604 d in which the memory module 6041is retained by a memory module retainer 6042. The memory module 6041 maystore information as described, for example, in U.S. Pat. Nos.6,793,652, 6,793,652, 6,981,941, 7,032,798, and 7,951,071, each of whichis expressly incorporated herein by reference in its entirety. A wedgedriver 605 is configured to be rotatably disposed through a centralchannel 604 e of the staple tray 604. Specifically, the wedge driver 605has a distal end 605 a that is configured to be rotatably mounted withina distal orifice 604 a of the staple tray 604. The wedge driver 605 alsoincludes an externally threaded region 605 b, a non-threaded portion 605c that rotatably extends through a proximal orifice 604 b in theproximal end 604 b of the staple tray 604, and a proximally-facingopening 605 d at its proximal-most end for receiving the distal end 574of the second longitudinal rod 568. The proximally-facing opening 605 dand the distal end 574 of the second longitudinal rod 568 are adaptedfor non-rotatable coupling relative to each other when the distal end574 of the second longitudinal rod 568 is received, e.g., inserted,within the proximally-facing opening 605 d.

The replaceable staple cartridge 600 also includes a wedge 603 having aninternally threaded bore 603 a. The externally threaded region 605 b ofthe wedge driver 605 is configured to extend through the internallythreaded bore 603 a of the wedge 603. The threads of the internallythreaded bore 603 a of the wedge 603 match the threads of the externallythreaded region 605 b of the wedge driver 605. As is discussed furtherbelow, upon rotation of the wedge driver 605, the wedge 603 is movedbetween the distal end 604 c of the staple tray 604 and the proximal end604 d of the staple tray 604 through a central channel 604 e.

The staple tray 604 also includes a plurality of vertically-disposedslots 604 f in opposing walls 604 g of the central channel 604 e. Oneach side of the central channel 604 e, a staple pusher 607 isconfigured to be slideably disposed within the slots 604 f. Morespecifically, each of the staple pushers 607 has a top surface 607 arunning longitudinally between two rows 607 b of staple pushing fingers607 c. The staple pushing fingers 607 c are configured such that eachstaple pushing finger 607 c in the row 607 b that abuts the wall 604 gof the staple tray 604 is retained within a corresponding slot 604 f ofthe wall 604 g so as to be vertically slideable therein. The staplepushing fingers 607 c are positioned over slots 604 h in the staple tray604. The slots 604 h in the staple tray 604 house a plurality offasteners, e.g., staples 606. Each of the staples 606 includes a butt606 a and a pair of prongs 606 b.

The wedge 603 also includes a pair of sloped edges 603 b that slideablyengage respective top surfaces 607 a of the staple pushers 607. When thewedge 603 is moved from the distal end 604 c to the proximal end 604 dof the staple tray 604 through the central channel 604 e, the pair ofsloped edges 603 b of the wedge 603 is configured to slideably engagethe respective top surfaces 607 a of the staple pushers 607 in order tosuccessively push the staple pushing fingers 607 c of the staple pushers607 into, and thus the staples 606 out of, the slots 604 h in the stapletray 604. A cartridge top 611 is configured to fit over the centralchannel 604 a of the staple tray 604, while a staple retainer 610 isconfigured to cover the clamping surface 106 of the staple tray 604.Additional features, e.g., a blade 51, of the staple cartridge 600 aredescribed below in connection with FIG. 3(g), these features beingdescribed during operation of the surgical device 11.

FIG. 3(h) is a bottom view of the first jaw 50. The first jaw 50includes an anvil member 700 having a longitudinally-disposed slot 701that extends from a distal end to a proximal end of the anvil member700. The slot 701 is aligned with the blade 51 of the second jaw 80 sothat the blade 51 extends into and travels along the slot 701 when theblade is moved from the distal end 80 a to the proximal end 80 b of thesecond jaw 80. The anvil member 700 also includes a plurality of rows702 of staple guides 703. The staple guides 703 are configured toreceive the prongs 606 b of the staples 606 and to bend the prongs 606 bso as to close the staples 606. When the surgical device 11 is in theclosed position, the rows 702 of the staple guides 703 align with theslots 604 h of the staple tray 604 in the second jaw 80.

In operation, the jaw portion 11 a is maintained in an initial positionin which it is axially aligned with the shaft portion 11 b, such as theposition shown in FIG. 3(b). In this position, the surgical device 11may be inserted, e.g., through a trocar, into a surgical site. Dependingon the position of the incision and the tissue to be clamped, stapledand cut, the user may then articulate the jaw portion 11 a relative tothe shaft portion 11 b.

In a first articulation process, the jaw portion 11 a is pivotedrelative to the shaft portion 11 b. The plate 518 is arranged in itsfirst position, e.g., such that the two openings in the plate 518 arelocked in respective engagement with the teeth 516 of gear element 514and with the teeth 5661 of the gear element 562 b. The first rotatabledrive shaft 500 and the second rotatable drive shaft 550 are thenrotated in opposite directions. For instance, referring to FIG. 3(b), inorder to articulate the jaw portion 11 a in a clockwise directionrelative to the shaft portion 11 b (when viewed from above), the firstrotatable drive shaft 500 may be rotated in a counter-clockwisedirection (for the sake of simplicity, all references herein to arotational direction, e.g., clockwise or counterclockwise, refer to aview from the proximal end of the surgical device towards the distal endof the surgical device 11, unless otherwise noted). The gear element 502attached to the first rotatable drive shaft 500 is thus also caused torotate in a counter-clockwise direction. By virtue of its engagementwith the gear element 504, the counter-clockwise rotation of the gearelement 502 causes the gear element 504 to rotate in a counter-clockwisedirection (when viewed from above) about the pin 505. By virtue of itsengagement with the gear element 506, the counter-clockwise rotation ofthe gear element 504 causes the gear element 506 to rotate in aclockwise direction.

Simultaneously, the second rotatable drive shaft 550 may be rotated in aclockwise direction. The gear element 552 attached to the secondrotatable drive shaft 550 is thus also caused to rotate in a clockwisedirection. By virtue of its engagement with the gear element 554, theclockwise rotation of the gear element 552 causes the gear element 554to rotate in a counter-clockwise direction (when viewed from above)about the pin 505. By virtue of its engagement with the gear element556, the clockwise rotation of the gear element 554 causes the gearelement 556 to rotate in a counter-clockwise direction. The engagementof the plate 518 with the teeth 516 and 5661 prevents the rotation ofthe gear elements 506 and 566 relative to the surgical device 11. Thus,the jaw portion 11 a is caused to rotate in a clockwise directionrelative to the shaft portion 11 b (when viewed from above). To rotatethe jaw portion 11 a in the opposite direction, e.g., counter-clockwiserelative to the shaft portion 11 b when viewed from above, the directionof rotation of the first and second rotatable drive shafts 500, 550 arereversed.

Once the jaw portion 11 a is rotated about the pin 505 to a desiredposition, the jaw portion 11 a may also be rotated, in a secondarticulation process, relative to the shaft portion 11 b about thelongitudinal axis of the jaw portion 11 a, e.g., illustrated as axis D.The plate 518 is maintained in its first position, such that the twoopenings in the plate 518 are locked in respective engagement with theteeth 516 of gear element 514 and with the teeth 5661 of the gearelement 562 b. The first rotatable drive shaft 500 and the secondrotatable drive shaft 550 are then rotated in the same direction. Forinstance, referring to FIG. 3(b), in order to rotate the jaw portion 11a about its longitudinal axis in a counter-clockwise direction relativeto the shaft portion 11 b, the first rotatable drive shaft 500 may berotated in a counter-clockwise direction. The gear element 502 attachedto the first rotatable drive shaft 500 is thus also caused to rotate ina counter-clockwise direction. By virtue of its engagement with the gearelement 504, the counter-clockwise rotation of the gear element 502causes the gear element 504 to rotate in a counter-clockwise direction(when viewed from above) about the pin 505. By virtue of its engagementwith the gear element 506, the counter-clockwise rotation of the gearelement 504 causes the gear element 506 to rotate in a clockwisedirection. Since the gear element 506 is attached to the gear element510 by the shaft 508, rotation of the gear element 506 in the clockwisedirection causes the gear element 510 to also rotate in a clockwisedirection. By virtue of its engagement with the gear element 512, theclockwise rotation of the gear element 510 causes the gear element 512to rotate in a counter-clockwise direction.

The second rotatable drive shaft 550 may also be rotated in acounter-clockwise direction. The gear element 552 attached to the secondrotatable drive shaft 550 is thus also caused to rotate in acounter-clockwise direction. By virtue of its engagement with the gearelement 554, the counter-clockwise rotation of the gear element 552causes the gear element 554 to rotate in a clockwise direction (whenviewed from above) about the pin 505. By virtue of its engagement withthe gear element 556, the clockwise rotation of the gear element 554causes the gear element 556 to rotate in a clockwise direction. Sincethe gear element 556 is attached to the gear element 560 by the shaft558, rotation of the gear element 556 in the clockwise direction causesthe gear element 560 to also rotate in a clockwise direction. By virtueof its engagement with the gear element 562 a, the clockwise rotation ofthe gear element 560 causes the gear element 562 a to rotate in acounter-clockwise direction. Also, since both the gear element 562 a andthe gear element 562 b are adapted to be non-rotatably mounted to, e.g.,keyed to, the pin 513, the rotation of the gear element 562 a in acounter-clockwise direction also causes the gear element 562 b to rotatein a counter-clockwise direction.

Thus, the gear element 562 b and the gear element 512 rotate together ina counter-clockwise direction about their shared longitudinal axes,e.g., the central axis of the pin 513. Since the plate 518 is maintainedin its first position, the two openings in the plate 518 are locked inrespective engagement with the teeth 516 of gear element 514 and withthe teeth 5661 of the gear element 562 b. Thus, the rotation of the gearelement 562 b, and of the gear element 512 in the counter-clockwisedirection about the pin 513, causes the gear element 514 and the gearelement 564 to also rotate in a counter-clockwise direction about thepin 513, the central axis of which is coaxial with the longitudinal axisD of the jaw portion 11 a. The gear element is connected to the screw520, on which is mounted the push block 522. Since the push block 522 iskeyed to the internal surface of the jaw portion 11 a, the rotation ofthe gear element 514 about the longitudinal axis D causes the jawportion 11 a to rotate relative to the shaft portion 11 b about itslongitudinal axis D.

Once the jaw portion 11 a is rotated relative to the shaft portion 11 babout its longitudinal axis D to a desired position, the jaws 50, 80 maybe opened so as to enable a section of tissue to be disposedtherebetween. To perform this operation, the plate 518 is moved distallyto its second position, such that the two openings in the plate 518 arenot locked in respective engagement with either the teeth 516 of gearelement 514 nor with the teeth 5661 of the gear element 562 b. The firstrotatable drive shaft 500 is then rotated in a first direction while thesecond rotatable drive shaft 550 is not rotated. For instance, referringto FIG. 3(b), in order to open the first jaw 50 relative to the secondjaw 80, the first rotatable drive shaft 500 may be rotated in acounter-clockwise direction. The gear element 502 attached to the firstrotatable drive shaft 500 is thus also caused to rotate in acounter-clockwise direction. By virtue of its engagement with the gearelement 504, the counter-clockwise rotation of the gear element 502causes the gear element 504 to rotate in a counter-clockwise direction(when viewed from above) about the pin 505. By virtue of its engagementwith the gear element 506, the counter-clockwise rotation of the gearelement 504 causes the gear element 506 to rotate in a clockwisedirection. Since the gear element 506 is attached to the gear element510 by the shaft 508, rotation of the gear element 506 in the clockwisedirection causes the gear element 510 to also rotate in a clockwisedirection. By virtue of its engagement with the gear element 512, theclockwise rotation of the gear element 510 causes the gear element 512to rotate in a counter-clockwise direction. By virtue of its engagementwith the gear element 514, the counter-clockwise rotation of the gearelement 512 causes the gear element 514 to rotate in a clockwisedirection. Since the plate 518 is moved to its second position, the gearelement 512 rotates about the pin 513 without the pin 513 rotating.

The clockwise rotation of the gear element 514 causes rotation of thethreaded screw 520 in a clockwise direction. In an initial stage ofoperation, e.g., when the surgical device 11 has first been insertedinto a patient's body, the push block 522 is located in a distal-mostposition along the threaded screw 520. Rotation of the threaded screw520 causes the push block 522, which is adapted to be non-rotatablemounted within, e.g., keyed to, an internal surface of the surgicaldevice 11, to travel in a proximal direction. The proximal movement ofthe push block 522 causes the pair of rollers 524 to move proximallywithin their respective slots 5011 on each side of the upper jaw 50.When the push block 522 has moved to the proximal end of the threadedscrew 520, the rollers 524 are positioned at a proximal end of the slots5011, at which position the first jaw 50 is maximally opened relative tothe second jaw 80.

Once the first and second jaws 50, 80 have been opened to a desiredposition relative to each other, the jaws 50, 80 are closed so as toclamp a section of tissue therebetween. Again, with the plate 518 in itssecond position, e.g., such that the two openings in the plate 518 arenot locked in respective engagement with either the teeth 516 of gearelement 514 nor with the teeth 5661 of the gear element 562 b, the firstrotatable drive shaft 500 is rotated in a second direction while thesecond rotatable drive shaft 550 is not rotated. For instance, referringto FIG. 3(b), in order to close the first jaw 50 relative to the secondjaw 80, the first rotatable drive shaft 500 may be rotated in aclockwise direction. The gear element 502 attached to the firstrotatable drive shaft 500 is thus also caused to rotate in a clockwisedirection. By virtue of its engagement with the gear element 504, theclockwise rotation of the gear element 502 causes the gear element 504to rotate in a clockwise direction (when viewed from above) about thepin 505. By virtue of its engagement with the gear element 506, theclockwise rotation of the gear element 504 causes the gear element 506to rotate in a counter-clockwise direction. Since the gear element 506is attached to the gear element 510 by the shaft 508, rotation of thegear element 506 in the counter-clockwise direction causes the gearelement 510 to also rotate in a counter-clockwise direction. By virtueof its engagement with the gear element 512, the counter-clockwiserotation of the gear element 510 causes the gear element 512 to rotatein a clockwise direction. By virtue of its engagement with the gearelement 514, the clockwise rotation of the gear element 512 causes thegear element 514 to rotate in a counter-clockwise direction. Since theplate 518 is moved to its second position, the gear element 512 rotatesabout the pin 513 without the pin 513 rotating.

The counter-clockwise rotation of the gear element 514 causes rotationof the threaded screw 520 in a counter-clockwise direction. As set forthabove, the push block 522 may be located in a proximal-most positionalong the threaded screw 520. Rotation of the threaded screw 520 causesthe push block 522, which is keyed to an internal surface of thesurgical device 11, to travel in a distal direction. The distal movementof the push block 522 causes the pair of rollers 524 to move distallywithin their respective slots 5011 on each side of the upper jaw 50.When the push block 522 has moved to the distal end of the threadedscrew 520, the rollers 524 are positioned at a distal end of the slots5011, at which position the first jaw 50 is maximally clamped againstthe second jaw 80. It should be noted that, while the opening andclosing of the first and second jaws 50, 80 may occur in a simplescissor type fashion, in other embodiments, the first and second jaws50, 80 may open and close in a different manner. An example of one suchtype of movement is described in additional detail below in connectionwith FIGS. 3(f) through 3(i).

Once a section of tissue has been clamped between the first and secondjaws 50, 80, the section of tissue may be cut and stapled. It should berecognized that, while the present invention is illustrated as usingboth cutting and stapling elements, the surgical device 11 may employonly one such element, or else may employ a different type of surgicalinstrument. Before the surgical device 11 is inserted into a patient'sbody, a staple cartridge 578 is provided within the second jaw 80. Inone embodiment, the surgical device 11 is a single use device, in whichthe staple cartridge is integral to the second jaw 80. Alternatively,the surgical device 11 may have a replaceable staple cartridge, e.g.,replaceable staple cartridge 600 as illustrated in FIG. 3(f), therebypermitting the surgical device 11 to be used numerous times withdifferent staple cartridges. In this embodiment, if the surgical device11 is being used for the first time, the staple cartridge 600 may bepre-installed during manufacture and assembly of the surgical device 11,or else may be installed by the user just prior to using the surgicaldevice 11. If the surgical device 11 is being used for the second ormore time, the staple cartridge 600 may be installed by the user justprior to using the surgical device 11. When the staple cartridge 600 isinserted into the second jaw 80, the distal end 574 of the longitudinalrod 568 is received within the proximally facing opening 605 d of thewedge driver 605.

To illustrate the cutting/stapling operation of the surgical device 11,reference is first made to FIG. 3(b). With the staple cartridge 600installed within the second jaw 80 of the surgical device 11, the plate518 is maintained in its second position, such that the two openings inthe plate 518 are not locked in respective engagement with either theteeth 516 of gear element 514 nor with the teeth 5661 of the gearelement 562 b. The second rotatable drive shaft 550 is then rotated in afirst direction while the first rotatable drive shaft 500 is notrotated. For instance, in order to cut and staple a section of tissuedisposed between the first and second jaw 50, 80, the second rotatabledrive shaft 550 may be rotated in a counter-clockwise direction. Thegear element 552 attached to the second rotatable drive shaft 550 isthus also caused to rotate in a counter-clockwise direction. By virtueof its engagement with the gear element 554, the counter-clockwiserotation of the gear element 552 causes the gear element 554 to rotatein a clockwise direction (when viewed from above) about the pin 505. Byvirtue of its engagement with the gear element 556, the clockwiserotation of the gear element 554 causes the gear element 556 to rotatein a clockwise direction. Since the gear element 556 is attached to thegear element 560 by the shaft 558, rotation of the gear element 556 inthe clockwise direction causes the gear element 560 to also rotate in aclockwise direction. By virtue of its engagement with the gear element562 a, the clockwise rotation of the gear element 560 causes the gearelements 562 a and 562 b to rotate in a counter-clockwise direction. Byvirtue of its engagement with the gear element 564, thecounter-clockwise rotation of the gear element 562 b causes the gearelement 564 to rotate in a clockwise direction. Since the plate 518 ismoved to its second position, the gear element 562 b rotates with thepin 513 without the gear element 514 rotating.

The clockwise rotation of the gear element 564 causes rotation of thefirst longitudinal rod 566 along with the second longitudinal rod 568 inthe clockwise direction. The spring 570 that resides between a distalend of the first longitudinal rod 566 and a shoulder 572 of the secondlongitudinal rod 568 functions to bias the second longitudinal rod 568in a distal direction, thereby insuring that the distal end 574 of thesecond longitudinal rod 568 seats within its respective opening 605 d ofthe wedge driver 605.

To further illustrate the cutting/stapling operation of the surgicaldevice 11, reference is next made to FIG. 3(g). FIG. 3(g) is across-sectional view of the surgical device 11, according to oneembodiment of the present invention, in a fully closed position. In FIG.3(g), the surgical device 11 is illustrated absent a section of tissuebetween the clamping surfaces 106, 108 of the first and the second jaws50, 80.

As illustrated in FIG. 3(g), the surgical device 11 is disposed withinthe second jaw 80, and the cutting and stapling element 104 includes thereplaceable staple cartridge 600 of FIG. 3(g) that is replaceablymountable within the second jaw 80. The replaceable staple cartridge600, which was shown in an exploded view in FIG. 3(f), is shownassembled and mounted within the second jaw 80 in FIG. 3(g).

As illustrated in FIG. 3(g), the wedge 603 has disposed thereon a blade51 having a cutting edge 51 a. Alternatively, the cutting and staplingelements may be separately disposed. In the example embodimentillustrated in FIG. 3(g), the blade 51 has a tail region 654 with acontact face 653. The blade 51 is rotatably coupled to the wedge 603around pivot 51 b to allow the blade 51 to rotate between a first and asecond position. FIG. 3(g) illustrates the wedge 603 and the blade 51 inseveral positions, labeled as positions A to E, as the wedge 603 and theblade 51 travel from the distal end 604 c to the proximal end 604 d ofthe staple tray 604.

In the position labeled A, the wedge 603 and the blade 51 are positionedat the distal end 604 c of the staple tray 604. In the position labeledA, the wedge 603 and the blade 51 are housed within a housing 615 andthe blade 51 is rotated relative to the wedge 603 so as to be in aretracted position, e.g., the cutting edge 51 a facing upwards and isnot exposed. The contact face 653 initially faces the proximal end 604 dof the staple tray 604.

In operation, rotation of the wedge driver 605 via the distal end 574 ofthe second longitudinal rod 568 causes the wedge 603 and the blade 51 toadvance to the position labeled B, via. In the position labeled B, thewedge 603 and the blade 51 are positioned proximally relative to thedistal end 604 c of the staple tray 604. Specifically, in the positionlabeled B, the wedge 603 and the blade 5 fare positioned such that thecontact face 653 of the blade 51 begins to contact an actuating lip 615a of the housing 615. As the contact face 653 of the blade 51 begins tocontact the actuating lip 615 a of the housing 615, the blade 51 beginsto rotate relative to the wedge 603.

Further rotation of the wedge driver 605 via the distal end 574 of thesecond longitudinal rod 568 causes the wedge 603 and the blade 51 toadvance to the position labeled C. In the position labeled C, the wedge603 and the blade 51 are positioned still further proximally relative tothe distal end 604 c of the staple tray 604. Specifically, in theposition labeled C, the wedge 603 and the blade 51 are positioned suchthat the contact face 653 of the blade 51 has fully contacted theactuating lip 615 a of the housing 615. When the contact face 653 of theblade 51 has fully contacted the actuating lip 615 a of the housing 615,the blade 51 is fully rotated relative to the wedge 603 such that thecutting edge 51 a of the blade 51 is in an extended position, e.g., thecutting edge 51 a faces the proximal end 604 d of the staple tray 604.

Further rotation of the wedge driver 605 via the distal end 574 of thesecond longitudinal rod 568 causes the wedge 603 and the blade 51 toadvance to the position labeled D. In the position labeled D, the wedge603 and the blade 51 are positioned approximately at the midpointbetween the distal end 604 c and the proximal end 604 d of the stapletray 604. In the position labeled D, the blade 51 is maintained in theextended position having the cutting edge 51 a facing the proximal end604 d of the staple tray 604 so as to cut a section of tissue (notshown) that is clamped between the first jaw 50 and the second jaw 80.

Further rotation of the wedge driver 605 via the distal end 574 of thesecond longitudinal rod 568 causes the wedge 603 and the blade 51 toadvance to the position labeled E. In the position labeled E, the wedge603 and the blade 51 are positioned at the proximal end 604 d of thestaple tray 604. In the position labeled E, the blade 51 is stillmaintained in the extended position with the cutting edge 51 a facingthe proximal end 604 d of the staple tray 604. Here, however, the blade51 is enclosed within a housing 616 so that the cutting edge 51 a is notexposed.

The staples 606 housed within the staple tray 604 may simultaneously befired with the movement of the blade 51 from the proximal end 80 b tothe distal end 80 a of the second jaw 80. For instance, rotation of thewedge driver 605 via the distal end 574 of the second longitudinal rod568 causes the wedge 603 to be moved through the central channel 604 eof the staple tray 604. As the wedge 603 is moved from the distal end604 c to the proximal end 604 d of the staple tray 604 through thecentral channel 604 e, the pair of sloped edges 603 b of the wedge 603slideably engage the respective top surfaces 607 a of the staple pushers607 and successively push the staple pushing fingers 607 c of the staplepushers 607 into, and thus the staples 606 out of, the slots 604 h inthe staple tray 604. When the surgical device 11 is in the closedposition, the rows 702 of the staple guides 703 align with the slots 604h of the staple tray 604 in the second jaw 80 so that the staples 606maintained in the slots 604 h of the staple tray 604 are pushed by thestaple pushing fingers 607 c of the staple pushers 607 into, and closedby, corresponding staple guides 703 of the anvil member 700. The stapleguides 703 receive the prongs 606 b of the staples 606 when the surgicaldevice 11 is fired and bend the prongs 606 b so as to close the staples606, thereby stapling the section of tissue.

It should be recognized that, according to various embodiments of thepresent invention, the blade 51 and the wedge 603 may be moved in eithera proximal or a distal direction in order to cut a section of tissuedisposed between the first jaw 50 and the second jaw 80. Furthermore, itshould be recognized that, according to various embodiments of thepresent invention, any mechanical arrangement that is configured to movethe blade 51 and the wedge 603 in order to cut and/or staple a sectionof tissue disposed between the first jaw 50 and the second jaw 80 may beemployed.

As set forth above, while the opening and closing of the first andsecond jaws 50, 80 may occur in a simple scissor type fashion, in otherembodiments, the first and second jaws 50, 80 may open and close in adifferent manner. An example of one such type of movement is describedgenerally below in connection with FIGS. 3(i) through 3(l). Furtherdetails and benefits of this type of movement are described in U.S. Pat.No. 7,743,960, which is expressly incorporated herein in its entirety byreference thereto. For the purposes of clarity, those components of thesurgical device 11 that are located proximal to the gear element 514 andthe gear element 564 are not shown. It should be understood that thesegear elements 514, 564 may be driven by the combination of drivecomponents illustrated in FIGS. 3(a) through 3(e), or by any othercombination of driving components.

FIG. 3(i) illustrates the first jaw 50 in an open position relative tothe second jaw 80. In this position, the push block 522 is at or near aproximal end of the threaded screw 520, and the rollers 524 attached tothe push block 522 are positioned at or near the proximal end of slots5011 of the first jaw 50. The first jaw 50 includes a pivot pin 5012,which is engaged within a vertical slot 5013 of the second jaw 80. Theproximal ends 50 b, 80 b of the first and second jaws 50, 80,respectively, are biased apart from each other, such that, in theinitial position shown in FIG. 3(i), the pin 5012 is positioned at thelower end of the slot 5013.

Referring to FIG. 3(j), as the gear element 514 is rotated, the pushblock 522 moves distally to a first intermediate position of thethreaded screw 520, and the rollers 524 attached to the push block 522are likewise moved distally to a first intermediate position within theslots 5011 of the first jaw 50. In the position shown in FIG. 3(j), thepin 5012 has moved within the slot 5013 until it eventually ispositioned at the upper end of the slot 5013. In this manner, the distalends 50 a, 80 a of the first and second jaws 50, 80 are brought togetherprior to the first and second jaws 50, 80 being fully clamped together.

Referring to FIG. 3(k), as the gear element 514 is further rotated, thepush block 522 continues to move distally to a second intermediateposition of the threaded screw 520, and the rollers 524 attached to thepush block 522 are likewise continued to move distally to a secondintermediate position within the slots 5011 of the first jaw 50. In theposition shown in FIG. 3(k), the further clamping of the first andsecond jaws 50, 80 cause the pin 5012 to again move within the slot 5013until it is eventually positioned at the lower end of the slot 5013. Inthis manner, the distal ends 50 a, 80 a of the first and second jaws 50,80 remain together while the proximal portions of the first and secondjaws 50, 80 are gradually clamped together. Continued distal movement ofthe push block 522 along the threaded screw 520 eventually places thesurgical device 11 in the position illustrated in FIG. 3(l), in whichthe first and second jaws 50, 80 are clamped together at both theirdistal ends 50 a, 80 a and their proximal ends 50 b, 80 b.

As set forth above, there are various different mechanisms that may beemployed to move the first jaw 50 relative to the second jaw 80.Irrespective of the mechanism employed for this purpose, it is generallydesirable to use a mechanism that exerts a strong clamping force on asection of tissue that is disposed between the first jaw 50 and thesecond jaw 80. FIG. 4(a) is a perspective view of the surgical device11, according to another embodiment of the present invention, whichemploys a different mechanism for moving the first jaw 50 relative tothe second jaw 80.

FIG. 4(b) is a perspective view that illustrates additional features ofthe second jaw 80 of the jaw portion 11 a. For the purpose of clarity,the first jaw 50 is shown in ghost lines. Specifically, FIG. 4(b)illustrates portions of the first driver 88, e.g., a horizontal driverelement 301 that is connected to a first rotatable clamping element 302.These and other features of the first driver 88, according to thisembodiment, are further illustrated in FIGS. 5(a) to 5(d).

FIG. 5(a) is a perspective view that illustrates the proximal end 80 bof the second jaw 80. The proximal end 50 b of the first jaw 50 is shownin ghost lines. FIG. 5(a) illustrates the surgical device 11 in a fullyopen position. In this embodiment, the first driver 88 includes arotating shaft 303. The first driver 88 also includes the horizontaldriver element 301. A proximal end of the horizontal driver element 301is engaged by the rotating shaft 303. A distal end of the horizontaldriver element 301 includes an opening 3011. The first driver 88 alsoincludes a first rotatable clamping element 302. The first rotatableclamping element 302 has a proximal end 3021, a middle portion 3022 anda distal end 3023.

The first driver 88 also includes a second rotatable clamping element303. The second rotatable clamping element 303 has a proximal end 3032and a distal end 3031. The proximal end of the first rotatable clampingelement 302 is pivotably connected to the opening 3011 at the distal endof the horizontal driver element 301. The middle portion 3022 of thefirst rotatable clamping element 302 is pivotably connected to theproximal end 3032 of the second rotatable clamping element 303. Thedistal end 3021 of the first rotatable clamping element 302 is pivotablyconnected to the first jaw 50. The distal end 3031 of the secondrotatable clamping element 303 is pivotably connected to the second jaw50. Also, the proximal end 50 b of the first jaw 50 is pivotablyconnected to the proximal end 80 b of the second jaw 80 around pivotpoint A.

Upon engagement of the first driver 88, the surgical device 11 is movedinto a first partially closed position, as illustrated in FIG. 5(b).Specifically, upon engagement of the first motor 96, the first driveshaft 94 causes rotation of the first drive socket 654 in a firstdirection. Rotation of the first drive socket 654 causes rotation of therotating shaft 303 of the first driver 88, which in turn causes thehorizontal driver element 301 to move in a distal direction. It shouldbe recognized that the components of the first driver 88, whiledescribed in connection with this embodiment as including a rotatingshaft 303, may include some or all of the components described inconnection with the embodiment illustrated in FIG. 3(a) through 3(e) asset forth above, or else may include any other arrangement of componentssuitable for moving the horizontal driver element 301 in a distaldirection driving.

Still referring to FIG. 5(b), distal movement of the horizontal driverelement 301 causes rotation of the first rotatable clamping element 302,such that the distal end 3023 of the second rotatable clamping element302 begins to move in a downward direction. The downward movement of thedistal end 3023 of the second rotatable clamping element 302, by virtueof its pivotable attachment to the first jaw 50, causes the first jaw 50to rotate relative to the second jaw 80 around pivot point A into thepartially closed position.

Upon further engagement of the first driver 88, the surgical device 11is moved into a second partially closed position, as illustrated in FIG.5(c). Specifically, upon further engagement of the first motor 96, thehorizontal driver element 301 is caused to move in a still furtherdistal direction via the rotation of the first drive shaft 94, the firstdrive socket 654 and the rotating shaft 303 of the first driver 88.Continued distal movement of the horizontal driver element 301 causesfurther rotation of the first rotatable clamping element 302, such thatthe distal end 3023 of the second rotatable clamping element 302continues to move in a downward direction. The continued downwardmovement of the distal end 3023 of the second rotatable clamping element302, by virtue of its pivotable attachment to the first jaw 50, causesthe first jaw 50 to rotate relative to the second jaw 80 around pivotpoint A into a nearly fully closed position.

Upon further engagement of the first driver 88, the surgical device 11is moved into a fully closed position, as illustrated in FIG. 5(d).Specifically, upon still further engagement of the first motor 96, thehorizontal driver element 301 is caused to move to a fully distalposition via the rotation of the first drive shaft 94, the first drivesocket 654 and the rotating shaft 303 of the first driver 88. In thefully distal position, the first rotatable clamping element 302 is fullyrotated, such that the distal end 3023 of the first rotatable clampingelement 302 is in a fully lowered position. In the fully loweredposition, the distal end 3023 of the first rotatable clamping element302 has moved the first jaw 50 around pivot point A to a fully closedposition, such that a section of tissue 52 disposed between the firstand second jaws 50, 80 is fully clamped between the first and secondjaws 50, 80.

According to an example embodiment of the present invention, thesurgical device 11 may be configured as an attachment to, or may beintegral with, a purely mechanical device driver system, such as thatillustrated in FIG. 1. In another embodiment, the surgical device 11 maybe configured as an attachment to, or may be integral with, anelectromechanical surgical system, such as an electro-mechanical driversystem 1610 illustrated in FIG. 2(a).

Specifically, FIG. 2(a) is a perspective view of an example embodimentof an electromechanical driver component 1610 according to the presentinvention. Such an electromechanical surgical system is described in,e.g., U.S. Pat. Nos. 6,793,652, 6,793,652, 6,981,941, 7,032,798, and7,951,071, each of which is expressly incorporated herein in theirentirety by reference thereto. The electromechanical driver component1610 may include, for example, a remote power console 1612, whichincludes a housing 1614 having a front panel 1615. Mounted on the frontpanel 1615 are a display device 1616 and indicators 1618 a, 1618 b. Aflexible shaft 1620 may extend from the housing 1614 and may bedetachably attached thereto via a first coupling 1622. The distal end1624 of flexible shaft 1620 may include a second coupling 1626 adaptedto detachably couple, e.g., the surgical device 11 described above, tothe distal end 1624 of the flexible shaft 1620. The second coupling 1626may also be adapted to detachably attach a different surgical instrumentor attachment. In another example embodiment, the distal end 1624 of theflexible shaft 1620 may permanently attach to or be integral with asurgical instrument.

FIGS. 6(a) through 6(e) illustrate, according to one embodiment of thepresent invention, an arrangement of couplings and flexible shaft thatmay be employed in order to connect the surgical device 11 to theelectromechanical drive component 1610. For instance, FIG. 6(a)illustrates a flexible shaft 2620 that extends from the housing 1614that is detachably attached thereto via a first coupling 2622. Thedistal end 2624 of flexible shaft 2620 may include a second coupling2626 adapted to detachably couple, e.g., the surgical device 11described above, to the distal end 2624 of the flexible shaft 2620. FIG.6(b) illustrates a rear perspective view of the first coupling 2622,according to one embodiment of the present invention. FIG. 6(c)illustrates a front perspective view of the first coupling 2622,according to the embodiment shown in FIG. 6(b). FIG. 6(d) is a sideperspective view of some of the internal components of the firstcoupling 2622. FIG. 6(e) is a rear perspective view of the secondcoupling 2626 at the distal end 2624 of the flexible shaft 2620,according to one embodiment of the present invention. For the purposesof clarity, the flexible shaft 2620 is shown in FIG. 6(e) as ghostlines. Additional features of these components are further described inApplicant's co-pending patent application Ser. No. 60/703,227.

While the combination of the flexible shaft 2620 and couplings 2622,2626 provide one arrangement by which the surgical device 11 may beattached to the electromechanical power console 1610, any suitablearrangement may be employed. For instance, FIGS. 7 through 10 illustrateanother arrangement by which the surgical device 11 may be attached tothe electromechanical power console 1610. Referring to FIG. 7, there isseen a side view, partially in section, of the flexible shaft 1620.According to an example embodiment, the flexible shaft 1620 includes atubular sheath 1628, which may include a coating or other sealingarrangement configured to provide a fluid-tight seal between theinterior channel 1640 thereof and the environment. The sheath 1628 maybe formed of a tissue-compatible, sterilizable elastomeric material. Thesheath 1628 may also be formed of a material that is autoclavable.Disposed within the interior channel 1640 of the flexible shaft 1620,and extending along the entire length thereof, may be a first rotatabledrive shaft 94, a second rotatable drive shaft 102, a first steeringcable 1634, a second steering cable 1635, a third steering cable 1636, afourth steering cable 1637 and a data transfer cable 1638. FIG. 8 is across-sectional view of the flexible shaft 1620 taken along the line 8-8illustrated in FIG. 7 and further illustrates the several cables 94,102, 1634, 1635, 1636, 1637 and 1638. Each distal end of the steeringcables 1634, 1635, 1636, 1637 is affixed to the distal end 1624 of theflexible shaft 1620. Each of the several cables 94, 102, 1634, 1635,1636, 1637, 1638 may be contained within a respective sheath.

The first rotatable drive shaft 94 and the second rotatable drive shaft102 may be configured, for example, as highly flexible drive shafts,such as, for example, braided or helical drive cables. It should beunderstood that such highly flexible drive cables may have limitedtorque transmission characteristics and capabilities. It should also beunderstood that the surgical device 11, or other attachments connectedto the flexible shaft 1620, may require a higher torque input than thetorque transmittable by the drive shafts 94, 102. The drive shafts 94,102 may thus be configured to transmit low torque but high speed, thehigh-speed/low-torque being converted to low-speed/high-torque bygearing arrangements disposed, for example, at the distal end and/or theproximal end of the drive flexible shaft 1620, in the surgicalinstrument or attachment and/or in the remote power console 1612. Itshould be appreciated that such gearing arrangement(s) may be providedat any suitable location along the power train between the motorsdisposed in the housing 1614 and the attached surgical instrument orother attachment connected to the flexible shaft 1620. Such gearingarrangement(s) may include, for example, a spur gear arrangement, aplanetary gear arrangement, a harmonic gear arrangement, cycloidal drivearrangement, an epicyclic gear arrangement, etc.

Referring now to FIG. 9, there is seen a rear end view of first coupling1622. The first coupling 1622 includes a first connector 1644, a secondconnector 1648, a third connector 1652 and a fourth connector 1656, eachrotatably secured to the first coupling 1622. Each of the connectors1644, 1648, 1652, 1656 includes a respective recess 1646, 1650, 1654,1658. As illustrated in FIG. 9, each recess 1646, 1650, 1654, 1658 maybe hexagonally shaped. It should be appreciated, however, that therecesses 1646, 1650, 1654, 1658 may have any shape and configurationadapted to non-rotatably couple and rigidly attach the connectors 1644,1648, 1652, 1656 to respective drive shafts of the motor arrangementcontained within the housing 1614. It should be appreciated thatcomplementary projections may be provided on respective drive shafts ofthe motor arrangement to thereby drive the drive elements of theflexible shaft 1620. It should also be appreciated that the recesses maybe provided on the drive shafts and complementary projections may beprovided on the connectors 1644, 1648, 1652, 1656. Any other couplingarrangement configured to non-rotatably and releasably couple theconnectors 1644, 1648, 1652, 1656 and the drive shafts of the motorarrangement may be provided.

One of the connectors 1644, 1648, 1652, 1656 is non-rotatably secured tothe first drive shaft 94, and another one of the connectors 1644, 1648,1652, 1656 is non-rotatably secured to the second drive shaft 102. Theremaining two of the connectors 1644, 1648, 1652, 1656 engage withtransmission elements configured to apply tensile forces on the steeringcables 1634, 1635, 1636, 1637 to thereby steer the distal end 1624 ofthe flexible shaft 1620. The data transfer cable 1638 is electricallyand logically connected with data connector 1660. The data connector1660 includes, for example, electrical contacts 1662, corresponding toand equal in number to the number of individual wires contained in thedata cable 1638. The first coupling 1622 includes a key structure 1642configured to properly orient the first coupling 1622 to a mating andcomplementary coupling arrangement disposed on the housing 1612. The keystructure 1642 may be provided on either one, or both, of the firstcoupling 1622 and the mating and complementary coupling arrangementdisposed on the housing 1612. The first coupling 1622 may include aquick-connect type connector, which may engage the first coupling 1622to the housing 1612 by a simple pushing motion. Seals may be provided inconjunction with any of the several connectors 1644, 1648, 1652, 1656,1660 to provide a fluid-tight seal between the interior of firstcoupling 1622 and the environment.

Referring now to FIG. 10, there is seen a front end view of the secondcoupling 1626 of the flexible shaft 1620. In the example embodiment, thesecond coupling 1626 includes a first connector 1666 and a secondconnector 1668, each rotatably secured to the second coupling 1626 andeach non-rotatably secured to a distal end of a respective one of thefirst and second drive shafts 94, 102. A quick-connect type fitting 1664is provided on the second coupling 1626 to detachably secure the device11 thereto. The quick-connect type fitting 1664 may be, for example, arotary quick-connect type fitting, a bayonet type fitting, etc. and maybe a fitting complementary to the quick connect sleeve 713 illustratedin FIG. 2(b). A key structure 1674 may be provided on the secondcoupling 1626 and may be configured to properly align the surgicaldevice 11 to the second coupling 1626. The key structure or otherarrangement configured to properly align the surgical device 11 to theflexible shaft 1620 may be provided on either one, or both, of thesecond coupling 1626 and the surgical device 11. In addition, the keystructure may be provided on the device 11, as illustrated in FIG. 2(b)as the slots 713 a of the quick connect sleeve 713. A data connector1670 having electrical contacts 1672 is also provided in the secondcoupling 1626. Like the data connector 1660 of first coupling 1622, thedata connector 1670 of the second coupling 1626 includes contacts 1672electrically and logically connected to the respective wires of the datatransfer cable 1638 and the contacts 1662 of the data connector 1660.Seals may be provided in conjunction with the connectors 1666, 1668,1670 to provide a fluid-tight seal between the interior of the secondcoupling 1626 and the environment.

Disposed within the housing 1614 of the remote power console 1612 areelectromechanical driver elements configured to drive the drive shafts94, 102 and the steering cables 1634, 1635, 1636, 1637 to therebyoperate the electro-mechanical driver component 1610 and the surgicaldevice 11 attached to the second coupling 1626. In the exampleembodiment illustrated schematically in FIG. 19, five electric motors96, 100, 1684, 1690, 1696, each operated via a power source, may bedisposed in the remote power console 1612. It should be appreciated,however, that any appropriate number of motors may be provided, and themotors may operate via battery power, line current, a DC power supply,an electronically controlled DC power supply, etc. It should also beappreciated that the motors may be connected to a DC power supply, whichis in turn connected to line current and which supplies the operatingcurrent to the motors.

FIG. 11 illustrates schematically one possible arrangement of motors. Anoutput shaft 1678 of a first motor 96 engages with the first connector1644 of the first coupling 1622 when the first coupling 1622, and,therefore, the flexible shaft 1620, is engaged with the housing 1614 tothereby drive the first drive shaft 94 and the first connector 1666 ofthe second coupling 1626. Similarly, an output shaft 1682 of a secondmotor 100 engages the second connector 1648 of the first coupling 1622when the first coupling 1622, and, therefore, flexible shaft 1620 isengaged with the housing 1614 to thereby drive the second drive shaft102 and the second connector 1668 of the second coupling 1626. An outputshaft 1686 of a third motor 1684 engages the third connector 1652 of thefirst coupling 1622 when the first coupling 1622, and, therefore, theflexible shaft 1620, is engaged with the housing 1614 to thereby drivethe first and second steering cables 1634, 1635 via a first pulleyarrangement 1688. An output shaft 1692 of a fourth motor 1690 engagesthe fourth connector 1656 of the first coupling 1622 when the firstcoupling 1622, and, therefore, the flexible shaft 1620, is engaged withthe housing 1614 to thereby drive the third and fourth steering cables1636, 1637 via a second pulley arrangement 1694. The third and fourthmotors 1684, 1690 may be secured on a carriage 1100, which isselectively movable via an output shaft 1698 of a fifth motor 1696between a first position and a second position to selectively engage anddisengage the third and fourth motors 1684, 1690 with the respectivepulley arrangement 1688, 1694 to thereby permit the flexible shaft 1620to become taut and steerable or limp as necessary. It should beappreciated that other mechanical, electrical and/or electro-mechanicalmechanisms, etc., may be used to selectively engage and disengage thesteering mechanism. The motors may be arranged and configured asdescribed, for example, in U.S. Pat. No. 6,517,565, entitled “A CarriageAssembly for Controlling a Steering Wire Mechanism Within a FlexibleShaft,” which is expressly incorporated herein in its entirety byreference thereto. It should also be appreciated that, in accordancewith other embodiments of the present invention, the steering mechanismmay not be present at all, the surgical device 11 providing articulationbetween the jaw portion 11 a and the shaft portion 11 b so as tomaneuver the surgical device 11 within a surgical site.

It should be appreciated that any one or more of the motors 96, 100,1684, 1690, 1696 may be, for example, a high-speed/low-torque motor, alow-speed/high-torque motor, etc. As indicated above, the firstrotatable drive shaft 94 and the second rotatable drive shaft 102 may beconfigured to transmit high speed and low torque. Thus, the first motor96 and the second motor 100 may be configured as high-speed/low-torquemotors. Alternatively, the first motor 96 and the second motor 100 maybe configured as low-speed/high-torque motors with atorque-reducing/speed-increasing gear arrangement disposed between thefirst motor 96 and the second motor 100 and a respective one of thefirst rotatable drive shaft 94 and the second rotatable drive shaft 102.Such torque-reducing/speed-increasing gear arrangements may include, forexample, a spur gear arrangement, a planetary gear arrangement, aharmonic gear arrangement, cycloidal drive arrangement, an epicyclicgear arrangement, etc. It should be appreciated that any such geararrangement may be disposed within the remote power console 1612 or inthe proximal end of the flexible shaft 1620, such as, for example, inthe first coupling 1622. It should be appreciated that the geararrangement(s) may be provided at the distal and/or proximal ends of thefirst rotatable drive shaft 94 and/or the second rotatable drive shaft102 to prevent windup and breakage thereof.

Referring now to FIG. 12, there is seen a schematic view of theelectro-mechanical driver component 1610. A controller 1122 is providedin the housing 1614 of remote power console 1612 and is configured tocontrol all functions and operations of the electromechanical drivercomponent 1610 and the linear clamping, cutting and stapling device 11or other surgical instrument or attachment attached to the flexibleshaft 1620. A memory unit 1130 is provided and may include memorydevices, such as, a ROM component 1132, a RAM component 1134, etc. TheROM component 1132 is in electrical and logical communication with thecontroller 1122 via a line 1136, and the RAM component 1134 is inelectrical and logical communication with controller 1122 via line 1138.The RAM component 1134 may include any type of random-access memory,such as, for example, a magnetic memory device, an optical memorydevice, a magneto-optical memory device, an electronic memory device,etc. Similarly, the ROM component 1132 may include any type of read-onlymemory, such as, for example, a removable memory device, such as aPC-Card or PCMCIA-type device. It should be appreciated that the ROMcomponent 1132 and the RAM component 1134 may be configured as a singleunit or may be separate units and that the ROM component 1132 and/or theRAM component 1134 may be provided in the form of a PC-Card orPCMCIA-type device.

The controller 1122 is further connected to the front panel 1615 of thehousing 1614 and, more particularly, to the display device 1616 via aline 1154 and the indicators 1618 a, 1618 b via respective lines 1156,1158. The lines 1116, 1118, 1124, 1126, 1128 electrically and logicallyconnect controller 1122 to first, second, third, fourth and fifth motors96, 100, 1684, 1690, 1696, respectively. A wired remote control unit(“RCU”) 1150 is electrically and logically connected to the controller1122 via a line 1152. A wireless RCU 1148 is also provided andcommunicates via a wireless link 1160 with a receiving/sending unit 1146connected via a line 1144 to a transceiver 1140. The transceiver 1140 iselectrically and logically connected to the controller 1122 via a line1142. The wireless link 1160 may be, for example, an optical link, suchas an infrared link, a radio link or any other form of wirelesscommunication link.

A switch device 1186, which may include, for example, an array of DIPswitches, may be connected to the controller 1122 via a line 1188. Theswitch device 1186 may be configured, for example, to select one of aplurality of languages used in displaying messages and prompts on thedisplay device 1616. The messages and prompts may relate to, forexample, the operation and/or the status of the electromechanical drivercomponent 1610 and/or to the surgical device 11 attached thereto.

According to the example embodiment of the present invention, a firstencoder 1106 is provided within the second coupling 1626 and isconfigured to output a signal in response to and in accordance with therotation of the first drive shaft 94. A second encoder 1108 is alsoprovided within the second coupling 626 and is configured to output asignal in response to and in accordance with the rotation of the seconddrive shaft 102. The signal output by each of the encoders 1106, 1108may represent the rotational position of the respective drive shaft 94,102 as well as the rotational direction thereof. These encodes may be anarrangement of light sources, e.g., LEDs, and optical fibers asillustrated for instance in FIG. 6(e). Alternatively, such encoders1106, 1108 may include, for example, Hall-effect devices, opticaldevices, etc. Although the encoders 1106, 1108 are described as beingdisposed within the second coupling 1626, it should be appreciated thatthe encoders 1106, 1108 may be provided at any location between themotor system and the surgical device 11. It should be appreciated thatproviding the encoders 1106, 1108 within the second coupling 1626 or atthe distal end of the flexible shaft 1620 may provide an accuratedetermination of the drive shaft rotation. If the encoders 1106, 1108are disposed at the proximal end of the flexible shaft 1620, windup ofthe first and second rotatable drive shafts 94, 102 may result inmeasurement error.

FIG. 13 is a schematic view of an encoder 1106, 1108, which includes aHall-effect device. Mounted non-rotatably on the drive shaft 94, 102 isa magnet 1240 having a north pole 1242 and a south pole 1244. Theencoder 1106, 1108 further includes a first sensor 1246 and secondsensor 1248, which are disposed approximately 90° apart relative to thelongitudinal, or rotational, axis of the drive shaft 94, 102. The outputof the sensors 1246, 1248 is persistent and changes its state as afunction of a change of polarity of the magnetic field in the detectionrange of the sensor. Thus, based on the output signal from the encoders1106, 1108, the angular position of the drive shaft 94, 102 may bedetermined within one-quarter revolution and the direction of rotationof the drive shaft 94, 102 may be determined. The output of each encoder1106, 1108 is transmitted via a respective line 1110, 1112 of datatransfer cable 1638 to controller 1122. The controller 1122, by trackingthe angular position and rotational direction of the drive shafts 94,102 based on the output signal from the encoders 1106, 1108, may therebydetermine the position and/or state of the components of the surgicaldevice connected to the electro-mechanical driver component 1610. Thatis, by counting the revolutions of the drive shaft 94, 102, thecontroller 1122 may determine the position and/or state of thecomponents of the surgical device connected to the electromechanicaldriver component 1610.

For example, the advancement distance of the first jaw 50 relative tothe second jaw 80 and of the wedge 603 may be functions of, andascertainable on the basis of, the rotation of the respective driveshafts 94, 102. By ascertaining an absolute position of the first jaw 50and the wedge 603 at a point in time, the relative displacement of thefirst jaw 50 and the wedge 603, based on the output signal from theencoders 1106, 1108 and the known pitches of the threaded screw 520 andof the wedge driver 605, may be used to ascertain the absolute positionof the first jaw 50 and the wedge 603 at all times thereafter. Theabsolute position of the first jaw 50 and the wedge 603 may be fixed andascertained at the time that the surgical device 11 is first coupled tothe flexible shaft 1620. Alternatively, the position of the first jaw 50and the wedge 603 relative to, for example, the second jaw 80 may bedetermined based on the output signal from the encoders 1106, 1108.

As discussed above in connection with FIGS. 2(b) and 10, the surgicaldevice 11 may include a data connector 1272 adapted by size andconfiguration to electrically and logically connect to connector 1670 ofsecond coupling 1626. In the example embodiment, the data connector 1272includes contacts 1276 equal in number to the number of contacts 1672 ofconnector 1670. The memory module 6041 is electrically and logicallyconnected with the data connector 1272. Memory module 6041 may be in theform of, for example, an EEPROM, EPROM, etc. and may be contained, forexample, within the staple tray 604 of the replaceable staple cartridge600 in the second jaw 80 of the surgical device 11, as illustrated inFIG. 3(f).

FIG. 14 schematically illustrates the memory module 6041. As seen inFIG. 14, data connector 1272 includes contacts 1276, each electricallyand logically connected to the memory module 6041 via a respective line,e.g., flexible data cable 1278. The memory module 6041 may be configuredto store, for example, a serial number data 1180, an attachment typeidentifier (ID) data 1182 and a usage data 1184. The memory module 6041may additionally store other data. Both the serial number data 1180 andthe ID data 1182 may be configured as read-only data. The serial numberdata 1180 and/or the ID data 1182 may be stored in a read-only sectionof the memory module 6041. In the example embodiment, serial number data1180 may be data uniquely identifying the particular surgical device,whereas the ID data 1182 may be data identifying the type of theattachment, such as, e.g., for an electro-mechanical driver component1610 to which other types of surgical instruments or attachments areattachable. The usage data 1184 represents usage of the particularattachment, such as, for example, the number of times the first jaw 50of the surgical device 11 has been opened and closed, or the number oftimes that the wedge 603 of the surgical device 11 has been advanced.The usage data 1184 may be stored in a read/write section of the memorymodule 6041.

It should be appreciated that the attachment attachable to the distalend 1624 of the flexible shaft 1620, e.g., surgical device 11, may bedesigned and configured to be used a single time or multiple times. Theattachment may also be designed and configured to be used apredetermined number of times. Accordingly, the usage data 1184 may beused to determine whether the surgical device 11 has been used andwhether the number of uses has exceeded the maximum number of permitteduses. As more fully described below, an attempt to use the attachmentafter the maximum number of permitted uses has been reached willgenerate an ERROR condition.

Referring again to FIG. 12, the controller 1122 is configured to readthe ID data 1182 from the memory module 6041 of the surgical device 11when the surgical device 11 is initially connected to the flexible shaft1620. The memory module 6041 is electrically and logically connected tothe controller 1122 via the line 1120 of the data transfer cable 1638.Based on the read ID data 1182, the controller 1122 is configured toread or select from the memory unit 1130, an operating program oralgorithm corresponding to the type of surgical instrument or attachmentconnected to the flexible shaft 1620. The memory unit 1130 is configuredto store the operating programs or algorithms for each available type ofsurgical instrument or attachment, the controller 1122 selecting and/orreading the operating program or algorithm from the memory unit 1130 inaccordance with the ID data 1182 read from the memory module 6041 of anattached surgical instrument or attachment. As indicated above, thememory unit 1130 may include a removable ROM component 1132 and/or RAMcomponent 1134. Thus, the operating programs or algorithms stored in thememory unit 1130 may be updated, added, deleted, improved or otherwiserevised as necessary. The operating programs or algorithms stored in thememory unit 1130 may be customizable based on, for example, specializedneeds of the user. A data entry device, such as, for example, akeyboard, a mouse, a pointing device, a touch screen, etc., may beconnected to the memory unit 1130 via, for example, a data connectorport, to facilitate the customization of the operating programs oralgorithms. Alternatively or additionally, the operating programs oralgorithms may be customized and preprogrammed into the memory unit 1130remotely from the electromechanical driver component 1610. It should beappreciated that the serial number data 1180 and/or usage data 1184 mayalso be used to determine which of a plurality of operating programs oralgorithms is read or selected from the memory unit 1130. It should beappreciated that the operating program or algorithm may alternatively bestored in the memory module 6041 of the surgical device 11 andtransferred to the controller 1122 via the data transfer cable 1638.Once the appropriate operating program or algorithm is read by orselected by or transmitted to, the controller 1122, the controller 1122causes the operating program or algorithm to be executed in accordancewith operations performed by the user via the wired RCU 1150 and/or thewireless RCU 1148. As indicated hereinabove, the controller 1122 iselectrically and logically connected with the first, second, third,fourth and fifth motors 96, 100, 1684, 1690, 1696 via respective lines1116, 1118, 1124, 1126, 1128 and is configured to control such motors96, 100, 1684, 1690, 1696 in accordance with the read, selected ortransmitted operating program or algorithm via the respective lines1116, 1118, 1124, 1126, 1128.

Referring now to FIG. 15, there is seen a schematic view of wireless RCU1148. Wireless RCU 1148 includes a steering controller 1300 having aplurality of switches 1302, 1304, 1306, 1308 arranged under a four-wayrocker 1310. The operation of switches 1302, 1304, via rocker 1310,controls the operation of first and second steering cables 1634, 1635via third motor 1684. Similarly, the operation of switches 1306, 1308,via rocker 1310, controls the operation of third and fourth steeringcables 1636, 1637 via fourth motor 1692. It should be appreciated thatrocker 1310 and switches 1302, 1304, 1306, 1308 are arranged so that theoperation of switches 1302, 1304 steers the flexible shaft 1620 in thenorth-south direction and that the operation of switches 1306, 1308steers the flexible shaft 1620 in the east-west direction. Referenceherein to north, south, east and west is made to a relative coordinatesystem. Alternatively, a digital joystick, an analog joystick, etc. maybe provided in place of rocker 1310 and switches 1302, 1304, 1306, 1308.Potentiometers or any other type of actuator may also be used in placeof switches 1302, 1304, 1306, 1308.

The wireless RCU 1148 further includes a steering engage/disengageswitch 1312, the operation of which controls the operation of fifthmotor 696 to selectively engage and disengage the steering mechanism.The wireless RCU 1148 also includes a two-way rocker 1314 having firstand second switches 1316, 1318 operable thereby. The operation of theseswitches 1316, 1318 controls certain functions of the electromechanicaldriver component 1610 and any surgical instrument or attachment, such asthe surgical device 11, attached to the flexible shaft 1620 inaccordance with the operating program or algorithm corresponding to theattached device. For example, operation of the two-way rocker 1314 maycontrol the opening and closing of the first jaw 50 and the second jaw80 of the surgical device 11. The wireless RCU 1148 is provided with yetanother switch 1320, the operation of which may further control theoperation of the electro-mechanical driver component 1610 and the deviceattached to the flexible shaft 1620 in accordance with the operatingprogram or algorithm corresponding to the attached device. For example,operation of the switch 1320 may initiate the advancement of the wedge603 of the surgical device 11.

The wireless RCU 1148 includes a controller 1322, which is electricallyand logically connected with the switches 1302, 1304, 1306, 1308 vialine 1324, with the switches 1316, 1318 via line 1326, with switch 1312via line 1328 and with switch 1320 via line 1330. The wireless RCU 1148may include indicators 1618 a′, 1618 b′, corresponding to the indicators1618 a, 1618 b of front panel 1615, and a display device 1616′,corresponding to the display device 1616 of the front panel 1615. Ifprovided, the indicators 1618 a′, 1618 b′ are electrically and logicallyconnected to controller 1322 via respective lines 1332, 1334, and thedisplay device 1616′ is electrically and logically connected tocontroller 1322 via line 1336. The controller 1322 is electrically andlogically connected to a transceiver 1338 via line 1340, and thetransceiver 1338 is electrically and logically connected to areceiver/transmitter 1342 via line 1344. A power supply, for example, abattery, may be provided in wireless RCU 1148 to power the same. Thus,the wireless RCU 1148 may be used to control the operation of theelectromechanical driver component 1610 and the device 11 attached tothe flexible shaft 1620 via wireless link 1160.

The wireless RCU 1148 may include a switch 1346 connected to acontroller 1322 via line 1348. Operation of the switch 1346 transmits adata signal to the transmitter/receiver 1146 via wireless link 1160. Thedata signal includes identification data uniquely identifying thewireless RCU 1148. This identification data is used by the controller1122 to prevent unauthorized operation of the electro-mechanical drivercomponent 1610 and to prevent interference with the operation of theelectro-mechanical driver component 610 by another wireless RCU. Eachsubsequent communication between the wireless RCU 1148 and theelectro-mechanical device surgical 610 may include the identificationdata. Thus, the controller 1122 may discriminate between wireless RCUsand thereby allow only a single, identifiable wireless RCU 1148 tocontrol the operation of the electro-mechanical driver component 1610and the surgical device 11 attached to the flexible shaft 1620.

Based on the positions of the components of the surgical device attachedto the flexible shaft 1620, as determined in accordance with the outputsignals from the encoders 1106, 1108, the controller 1122 mayselectively enable or disable the functions of the electromechanicaldriver component 1610 as defined by the operating program or algorithmcorresponding to the attached device. For example, for the surgicaldevice 11, the firing function controlled by the operation of the switch1320 may be disabled unless the space or gap between the first jaw 50and the second jaw 80 is determined to be within an acceptable range.

Referring now to FIG. 16, there is seen a schematic view of a wired RCU1150. In the example embodiment, wired RCU 1150 includes substantiallythe same control elements as the wireless RCU 1148 and furtherdescription of such elements is omitted. Like elements are indicated inFIG. 16 with an accompanying prime. It should be appreciated that thefunctions of the electromechanical driver component 1610 and the deviceattached to the flexible shaft 1620, e.g., the surgical device 11, maybe controlled by the wired RCU 1150 and/or by the wireless RCU 1148. Inthe event of a battery failure, for example, in the wireless RCU 1148,the wired RCU 1150 may be used to control the functions of theelectromechanical driver component 1610 and the device attached to theflexible shaft 1620.

As described hereinabove, the front panel 1615 of the housing 1614includes the display device 1616 and the indicators 1618 a, 1618 b. Thedisplay device 1616 may include an alpha-numeric display device, such asan LCD display device. The display device 1616 may also include an audiooutput device, such as a speaker, a buzzer, etc. The display device 1616is operated and controlled by controller 1122 in accordance with theoperating program or algorithm corresponding to the device attached tothe flexible shaft 1620, e.g., the surgical device 11. If no surgicalinstrument or attachment is so attached, a default operating program oralgorithm may be read by or selected by or transmitted to controller1122 to thereby control the operation of the display device 1616 as wellas the other aspects and functions of the electromechanical drivercomponent 1610. If the surgical device 11 is attached to the flexibleshaft 1620, the display device 1616 may display, for example, dataindicative of the gap between the first jaw 50 and the second jaw 80 asdetermined in accordance with the output signal of encoders 1106, 1108,as more fully described hereinabove.

Similarly, the indicators 1618 a, 1618 b are operated and controlled bythe controller 1122 in accordance with the operating program oralgorithm corresponding to the device attached to the flexible shaft1620, e.g., the surgical device 11. The indicator 1618 a and/or theindicator 1618 b may include an audio output device, such as a speaker,a buzzer, etc., and/or a visual indicator device, such as an LED, alamp, a light, etc. If the surgical device 11 is attached to theflexible shaft 1620, the indicator 1618 a may indicate, for example,that the electromechanical driver component 1610 is in a power ON state,and the indicator 618 b may, for example, indicate whether the gapbetween the first jaw 50 and the second jaw 80 is determined to bewithin the acceptable range. It should be appreciated that although twoindicators 1618 a, 1618 b are described, any number of additionalindicators may be provided as necessary. Additionally, it should beappreciated that although a single display device 1616 is described, anynumber of additional display devices may be provided as necessary.

The display device 1616′ and the indicators 1618 a′, 1618 b′ of wiredRCU 1150 and the display device 1616″ and indicators 1618 a″, 1618 b″ ofthe wireless RCU 1148 are similarly operated and controlled byrespective controller 1322, 1322′ in accordance with the operatingprogram or algorithm of the device attached to the flexible shaft 1620.

As set forth above, one problem with conventional surgical devices, andin particular with the conventional linear clamping, cutting andstapling devices such as that illustrated in FIG. 1, is that theopposing jaws may be difficult to maneuver within a patient. It may benecessary for a surgeon to move the opposing jaws between various anglesin order to position the desired tissue between the opposing jaws.However, it may also be desirable to make an incision in a patient thatis as small as possible, and the small size of an incision limits thedegree to which the opposing jaws may be maneuvered. Example embodimentsof the present invention may provide improved maneuverability of asurgical device, e.g., the surgical device 11, within a patient.

Another problem with the conventional surgical devices, and inparticular with the foregoing linear clamping, cutting and staplingdevices such as that illustrated in FIG. 1, is that the opposing jawsmay not be sufficiently hemostatic. Specifically, the opposing jaws ofthe foregoing surgical devices may not be clamped together withsufficient force, thereby reducing the effectiveness of the surgicaldevice. Example embodiments of the present invention may provideimproved clamping of a section of tissue disposed between the jaws of asurgical device, e.g., the surgical device 11, thereby providing asufficiently hemostatic condition with respect to the clamped section oftissue. Furthermore, and as previously mentioned, one problem ofconventional cutting and stapling devices is that the opposing jaws ofthe mechanism may not adequately clamp a section of tissue clampedtherebetween, and they may not prevent a section of tissue clampedtherebetween from escaping out from between the distal ends of the jawsduring the operation of the device. This follows because thescissor-type gripping elements of conventional clamping, cutting andstapling devices, such as the device illustrated in FIG. 1, pivotrelative to each other around a fixed pivot point at a proximal end ofthe gripping elements. Thus, since the distance between the grippingelements is always less at a proximal end of the gripping elements thanat the distal ends of the gripping elements, the clamping force on asection of tissue disposed between the gripping elements is greatestnear the proximal ends of the gripping elements and gradually decreasesin the distal direction. The relatively high clamping force at theproximal ends of the gripping elements coupled with the relatively lowclamping force at the distal ends of the gripping elements causes thesection of tissue to be pushed towards, and eventually out from between,the distal ends of the gripping elements. Thus, the section of tissuemay not be adequately cut and stapled, and the inadequately cut andstapled end of the tissue may permit its contents to spill into the openabdomen of the patient, increasing the likelihood of infection and othercomplications.

In contrast, and as previously described in detail in connection withFIGS. 3(i) to 3(l), the surgical device 11 may provide an arrangement inwhich the distal ends 50 a, 80 a of the first and second jaws 50, 80 areurged towards each other during the operation of the surgical device 11,such that the clamping force between the distal ends 50 a, 80 a of thefirst and second jaws 50, 80 is greater in the surgical device 11 thanthe clamping force between the distal ends of the jaws of a conventionalclamping, cutting and stapling device. The increased clamping force atthe distal ends 50 a, 80 a of the first and second jaws 50, 80 mayprevent a section of tissue which is disposed between the first andsecond jaws 50, 80 from escaping out from between the distal ends 50 a,80 a of the first and second jaws 50, 80.

Those skilled in the art will appreciate that numerous modifications ofthe exemplary embodiment described hereinabove may be made withoutdeparting from the spirit and scope of the present invention. Althoughexemplary embodiments of the present invention have been described anddisclosed in detail herein, it should be understood that this inventionis in no sense limited thereby.

1-20. (canceled)
 21. A surgical system comprising: a power source; amotor operatively coupled to the power source; a surgical deviceoperatively coupled to the motor, the surgical device including: a jawportion having a first jaw and a second jaw moveable relative to thefirst jaw, the jaw portion defining a first longitudinal axis extendingbetween a proximal end of the jaw portion and a distal end of the jawportion; a shaft portion coupled to the proximal end of the jaw portion,the shaft portion defining a second longitudinal axis; and a driverconfigured to rotate a portion of the jaw portion relative to the shaftportion about the first longitudinal axis, the driver further beingconfigured to pivot the jaw portion relative to the shaft portion abouta pivot axis that is perpendicular to the second longitudinal axis. 22.The surgical system according to claim 21, further comprising a housing,wherein the power source is disposed within the housing.
 23. Thesurgical system according to claim 22, further comprising a flexibleshaft having a proximal portion coupled to the housing and a distalportion configured to detachably couple to the surgical device.
 24. Thesurgical system according to claim 21, wherein the pivot axis is alsoperpendicular to the first longitudinal axis.
 25. The surgical systemaccording to claim 24, wherein the first and second jaws are moveablerelative to each other in a plane, the pivot axis being parallel to theplane.
 26. The surgical system according to claim 25, wherein the driveris configured to be driven by a first rotatable drive shaft and a secondrotatable drive shaft.
 27. The surgical system according to claim 26,wherein rotation of the first and second rotatable drive shafts inopposite directions relative to each other causes the jaw portion topivot relative to the shaft portion about the pivot axis.
 28. Thesurgical system according to claim 27, wherein rotation of the first andsecond rotatable drive shafts in a same direction relative to each othercauses a portion of the jaw portion to rotate relative to the shaftportion about the first longitudinal axis.
 29. The surgical systemaccording to claim 28, wherein rotation of the first rotatable driveshaft without rotation of the second rotatable drive shaft causesrelative movement of the first jaw and the second jaw.
 30. The surgicalsystem according to claim 29, further comprising a surgical memberdisposed within the first jaw.
 31. The surgical system according toclaim 30, wherein the surgical member includes a cutting element or astapling element.
 32. The surgical system according to claim 31, whereinrotation of the second rotatable drive shaft without rotation of thefirst rotatable drive shaft causes relative movement of the surgicalmember within the first jaw.
 33. The surgical system according to claim27, wherein the first rotatable drive shaft is configured to rotate in afirst direction and the second rotatable drive shaft is configured torotate in a second direction opposite the first direction to causepivoting of the jaw portion relative to the shaft portion in a firstpivot direction about the pivot axis, and wherein the first rotatabledrive shaft is configured to rotate in the second direction and thesecond rotatable drive shaft is configured to rotate in the firstdirection to cause pivoting of the jaw portion relative to the shaftportion in a second pivot direction opposite the first pivot directionabout the pivot axis.
 34. The surgical system according to claim 28,wherein the first and second rotatable drive shafts are configured torotate in a first direction to cause rotation of a portion of the jawportion relative to the shaft portion in a first rotation directionabout the first longitudinal axis, and wherein the first and secondrotatable drive shafts are configured to rotate in a second directionopposite the first direction to cause rotation of a portion of the jawportion relative to the shaft portion in a second rotation directionopposite the first rotation direction about the first longitudinal axis.35. The surgical system according to claim 29, wherein the firstrotatable drive shaft is configured to rotate in a first direction andthe second rotatable drive shaft is configured to not rotate to causeopening of the first jaw relative to the second jaw, and wherein thefirst rotatable drive shaft is configured to rotate in a seconddirection opposite the first direction and the second rotatable driveshaft is configured to not rotate to cause closing of the first jawrelative to the second jaw.
 36. The surgical system according to claim32, wherein the second rotatable drive shaft is configured to rotate ina first direction and the first rotatable drive shaft is configured tonot rotate to extend the surgical member, and wherein the secondrotatable drive shaft is configured to rotate in a second directionopposite the first direction and the first rotatable drive shaft isconfigured to not rotate to retract the surgical member.
 37. Thesurgical system according to claim 26, further comprising anelectro-mechanical driver configured to rotate the first and secondrotatable drive shafts.
 38. The surgical system according to claim 37,wherein the electro-mechanical driver includes the first and secondrotatable drive shafts.
 39. The surgical system according to claim 38,wherein the electro-mechanical driver includes at least one motorarrangement adapted to drive each of the first and second rotatabledrive shafts.
 40. The surgical system according to claim 39, wherein theelectro-mechanical driver includes a first motor arrangement adapted todrive the first rotatable drive shaft and a second motor arrangementadapted to drive the second rotatable drive shaft.